Rotor pitch rocker arm size detection device and detection method

Abstract

The invention discloses a detection device and a detection method for the size of a rotor pitch rocker arm, which is used for a foldable coaxial twin-rotor UAV, comprising: a structural support; a torque measuring device, comprising a transmission shaft and a torque detection device, wherein the transmission shaft is horizontally arranged and rotationally connected to the structural support, and the torque detection device is transmission-connected to one or both ends of the transmission shaft to measure the roll control torque or pitch control torque of the UAV; a clamping device, which is fixedly arranged on the transmission shaft and suspended in the air, and a clamping cavity is provided on the clamping device, and the axis of the clamping cavity is perpendicular to the axis of the transmission shaft, and is used to install the UAV to be measured. The device can directly measure the size of the rotor control torque of the coaxial twin-rotor UAV, and verify whether the size of the actual control torque is consistent with the size of the theoretical control torque, which is more conducive to verifying the size parameters of the rotor pitch mechanism, the correction of the theoretical calculation results, and the design and parameter optimization of the control rate of the later flight control system.

Description

Technical Field

[0001] The invention relates to the field of unmanned aerial vehicle detection, and in particular to a detection device and a detection method for the size of a rotor pitch rocker arm. Background Art

[0002] The rotor control torque of a coaxial unmanned helicopter is one of the core indicators of aircraft design. If the actual manufactured rotor system control torque is significantly different from the theoretical calculated value, it will directly affect the aircraft's control quality and even flight safety. The existing publicly available coaxial biplane unmanned helicopters do not have a special rotor control torque measurement device designed to verify whether the aircraft's control torque is consistent with the design indicators. Ground bench tests or test flights are usually conducted directly. This results in an incomplete aircraft design process, which is not conducive to the verification of whether the dimensional parameters of the rotor pitch mechanism are the optimal values, nor is it conducive to the correction of theoretical calculation results and the design and parameter optimization of the control rate of the subsequent flight control system, thereby increasing uncertainty in the subsequent test flights and even the risk of crashes. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a detection device for the size of a rotor pitch rocker arm, which can directly measure the size of the rotor control torque of a coaxial twin-rotor UAV and verify whether the size of the actual control torque is consistent with the size of the theoretical control torque, which is more conducive to verifying the size parameters of the rotor pitch mechanism, correcting the theoretical calculation results, and designing and optimizing the control rate of the later flight control system.

[0004] A detection method based on the detection device for the size of the rotor pitch rocker arm is also proposed.

[0005] The technical solution adopted in the embodiment of the first aspect of the present invention is: a device for detecting the size of a rotor pitch rocker arm, used for a foldable coaxial twin-rotor UAV, comprising: a structural support; a torque measuring device, comprising a transmission shaft and a torque detection device, the transmission shaft is horizontally arranged and rotatably connected to the structural support, the torque detection device is transmission-connected to one or both ends of the transmission shaft to measure the roll control torque or pitch control torque of the UAV; a clamping device, fixedly arranged on the transmission shaft and suspended in the air, the clamping device is provided with a clamping cavity, the axis of the clamping cavity is perpendicular to the axis of the transmission shaft, and is used to install the UAV to be measured.

[0006] The device for detecting the size of the rotor pitch rocker arm according to an embodiment of the present invention has at least the following beneficial effects: the center of mass of the UAV is fixed by the clamping cavity of the clamping device, and after the UAV is fixed, the torque measuring device is driven by operating the UAV to rotate to measure the roll control torque or pitch control torque of the UAV, so as to determine the roll control torque or pitch control torque of the UAV corresponding to pitch rocker arms of different sizes.

[0007] According to some embodiments of the present invention, the torque measuring device includes a first torque transmission shaft, a second torque transmission shaft and a torque detection device, one end of the first torque transmission shaft is fixedly connected to one side of the clamping device, one end of the second torque transmission shaft is fixedly connected to the other side of the clamping device, and the axis of the first torque transmission shaft, the center of the clamping cavity and the axis of the second torque transmission shaft are located on the same straight line, the other end of the first torque transmission shaft and the other end of the second torque transmission shaft are respectively rotatably connected to the structural support, and the torque detection device is transmission-connected to the first torque transmission shaft and / or the second torque transmission shaft.

[0008] According to some embodiments of the present invention, the torque measuring device further comprises a fixing device, which is disposed on the structural support, corresponding to the first torque transmission shaft or the second torque transmission shaft, and is used to fix the first torque transmission shaft or the second torque transmission shaft.

[0009] According to some embodiments of the present invention, a collection device is further included, and the collection device is electrically connected to the torque detection device to collect data measured by the torque detection device.

[0010] According to some embodiments of the present invention, the acquisition device includes a torque acquisition device and an acquisition terminal, the torque acquisition device is electrically connected to the torque detection device, and the acquisition terminal is electrically connected to the torque acquisition device.

[0011] According to some embodiments of the present invention, the clamping device includes a first clamping plate and a second clamping plate, the first clamping plate is fixed to the first torque transmission shaft, the second clamping plate is fixedly connected to the second torque transmission shaft, and the first clamping plate and the second clamping plate together form the clamping cavity.

[0012] According to some embodiments of the present invention, the clamping cavity is consistent with the shape of the drone fuselage.

[0013] The technical solution adopted by the second embodiment of the present invention is: a detection method, including the detection device for the rotor pitch rocker arm size described in the first embodiment of the present invention, and the specific steps are as follows:

[0014] Step 1, based on the rotor pitch rocker arm size optimization method, obtain the theoretical optimal phase angle of the UAV rotor;

[0015] Step 2, fixing the center of mass of the drone in the clamping cavity, when the detection starts, the drone rotor rotates and is in a vertical hovering state;

[0016] Step 3, setting the longitudinal cyclic pitch value of the UAV rotor to a fixed value, and setting the lateral cyclic pitch value to zero, to generate a pitch control torque;

[0017] Step 4: Control the rotor of the drone to perform pitch motion, and control the torque measuring device to collect the actual torque magnitude of the drone during pitch motion.

[0018] The detection method according to the embodiment of the present invention has at least the following beneficial effects: after determining the theoretical optimal phase angle, it is necessary to determine the actual control torque corresponding to the theoretical optimal phase angle, and verify the correctness of the theoretical optimal phase angle by comparing the actual control torque with the theoretical control torque.

[0019] According to some embodiments of the present invention, in step 5, Z groups of variable pitch rocker arms are made at intervals of Y° within a range of X° before and after the theoretical optimal phase angle to adjust the phase angle of the UAV rotor, and steps 1 to 3 are repeated to obtain the pitch control torque corresponding to different phase angles of the variable pitch rocker arms to verify the theoretical optimal phase angle.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0022] Figure 1 It is a schematic diagram of a device for detecting the size of a rotor pitch rocker arm according to an embodiment of the present invention;

[0023] Figure 2 Schematic diagram of the phase angle θ of the rotor pitch rocker arm according to an embodiment of the present invention;

[0024] Figure 3 The horizontal coordinate is 90-θ and the vertical coordinate is the rolling control torque L in the embodiment of the present invention. w Curve fitting diagram of .

[0025] Figure numerals: 100-structural support; 200-torque measuring device; 210-first torque transmission shaft; 220-second torque transmission shaft; 230-torque detection device; 241-torque collection device; 242-collection terminal; 300-clamping device; 400-UAV; 500-variable pitch rocker arm; 600-rotor hub; 700-rotor variable pitch hinge; phase angle θ. DETAILED DESCRIPTION

[0026] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0027] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0028] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0029] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0030] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0031] Reference Figure 1 , a device for detecting the size of a rotor pitch rocker arm according to an embodiment of the first aspect of the present invention, for a foldable coaxial twin-rotor drone, comprising:

[0032] Structural support 100;

[0033] The torque measuring device 200 includes a transmission shaft and a torque detection device 230. The transmission shaft is horizontally arranged and rotatably connected to the structural support 100. The torque detection device 230 is arranged on the structural support 100 and is transmission-connected to one or both ends of the transmission shaft to measure the rolling control torque or pitching control torque of the UAV 400.

[0034] The clamping device 300 is fixedly mounted on the transmission shaft and suspended in the air. A clamping cavity is provided on the clamping device 300 , and the axis of the clamping cavity is perpendicular to the axis of the transmission shaft, and is used to mount the drone 400 to be measured.

[0035] Specifically, the drone 400 is fixed by the clamping cavity of the suspended clamping device 300, and the center of mass of the drone 400 corresponds to the clamping cavity, so that the measured torque is more accurate. After the drone 400 is fixed, the drone 400 is rotated to drive the clamping device 300 to rotate, and the torque is transmitted to the torque measuring device 200 to measure the roll control torque or pitch control torque of the drone 400, so as to determine the roll control torque or pitch control torque of the drone 400 corresponding to the variable pitch rocker arms 500 of different sizes.

[0036] The rolling control torque of the drone 400 refers to the torque required when the drone 400 needs to perform a rolling operation, and the pitch control torque refers to the torque required when the drone 400 needs to perform a pitch operation.

[0037] In addition, because the coaxial twin-rotor UAV has axial symmetry, the roll control torque and pitch control torque of the coaxial twin-rotor UAV are the same. Only one of them needs to be measured to obtain the value of the other, which makes detection convenient.

[0038] In addition, for a foldable coaxial twin-rotor unmanned helicopter, the flapping hinge extension e will be larger to meet the folding function. The existence of the extension e affects the flapping characteristics of the rotor, resulting in a higher flapping frequency, and the flapping response lag angle is significantly smaller than the theoretical value (close to 90°) when the extension e is zero. Existing coaxial twin-rotor drones are usually designed with a lag angle of 90°, which makes the control torque of the drone 400 seriously too small, resulting in poor wind resistance and slow control response of the drone 400. It is necessary to detect the control torque of the drone 400.

[0039] Reference Figure 1In some specific embodiments of the present invention, the torque measuring device 200 includes a first torque transmission shaft 210, a second torque transmission shaft 220 and a torque detection device 230, one end of the first torque transmission shaft 210 is fixedly connected to one side of the clamping device 300, one end of the second torque transmission shaft 220 is fixedly connected to the other side of the clamping device 300, and the axis of the first torque transmission shaft 210, the center of the clamping cavity and the axis of the second torque transmission shaft 220 are located on the same straight line, the other end of the first torque transmission shaft 210 and the other end of the second torque transmission shaft 220 are respectively rotatably connected to the structural support 100, and the torque detection device 230 is transmission-connected to the first torque transmission shaft 210 and / or the second torque transmission shaft 220.

[0040] Specifically, by arranging the axis of the first torque transmission shaft 210, the center of the clamping cavity and the axis of the second torque transmission shaft 220 on the same straight line, and then installing the center of mass of the drone 400 at the center of the clamping cavity, the control torque measured by the drone 400 will be more accurate, thereby improving the detection accuracy.

[0041] In addition, a first bearing support and a second bearing support are coaxially arranged on the structural support 100, the other end of the first torque transmission shaft 210 is rotatably connected to the first bearing support, and the second torque transmission shaft 220 is rotatably connected to the second bearing support.

[0042] Reference Figure 1 In some specific embodiments of the present invention, the torque measuring device 200 also includes a fixing device, which is arranged on the structural support 100, corresponding to the first torque transmission shaft 210 or the second torque transmission shaft 220, and is used to fix the first torque transmission shaft 210 or the second torque transmission shaft 220.

[0043] Specifically, when installing the drone 400 to the clamping cavity, the first torque transmission shaft 210 or the second torque transmission shaft 220 can be fixed by a fixing device first, so that the first torque transmission shaft 210 or the second torque transmission shaft 220 cannot rotate, which is more convenient for the installation of the drone 400. After the installation is completed, the fixing device can be loosened to measure the pitch control torque or roll control torque of the drone 400.

[0044] In some specific embodiments of the present invention, a collection device is further included. The collection device is electrically connected to the torque detection device 230 to collect data measured by the torque detection device 230 .

[0045] Specifically, the data measured by the torque detection device 230 is collected by the collection device, which makes it more convenient to process the collected data and is more convenient to use.

[0046] Reference Figure 1In some specific embodiments of the present invention, the collection device includes a torque collection device 241 and a collection terminal 242 , the torque collection device 241 is electrically connected to the torque detection device 230 , and the collection terminal 242 is electrically connected to the torque collection device 241 .

[0047] Specifically, the torque detection device 230 is collected by setting up a torque acquisition device 241, and the data is then processed through the acquisition terminal 242, and the actual data is compared with the theoretical data, which is more convenient for analysis. In this embodiment, the torque detection device 230 is a torque meter, the torque acquisition device 241 is a torque meter acquisition box, and the acquisition terminal 242 is a torque meter acquisition box control computer.

[0048] In some specific embodiments of the present invention, the clamping device 300 includes a first clamping plate and a second clamping plate, the first clamping plate is fixed to the first torque transmission shaft 210, and the second clamping plate is fixedly connected to the second torque transmission shaft 220, and the first clamping plate and the second clamping plate form a clamping cavity.

[0049] Specifically, by providing the first clamping piece and the second clamping piece to clamp the fuselage of the drone 400, the drone 400 can be better fixed and more convenient to use.

[0050] Reference Figure 1 In some specific embodiments of the present invention, the clamping cavity is consistent with the shape of the fuselage of the drone 400.

[0051] Specifically, by making the shape of the clamping cavity consistent with the fuselage of the drone 400, the clamping cavity can better fit the fuselage of the drone 400, and the drone 400 is not easy to get loose when clamped, and the appearance of the drone 400 is not easily affected.

[0052] The detection method according to the second aspect of the present invention includes the detection device for the rotor pitch rocker arm size according to the first aspect of the present invention, and the specific steps are as follows:

[0053] Step 1, based on the rotor pitch rocker arm size optimization method, obtain the theoretical optimal phase angle of the UAV 400 rotor;

[0054] Step 2, fix the center of mass of the drone 400 in the clamping cavity, and at the beginning of the test, the rotor of the drone 400 rotates and is in a vertical hovering state;

[0055] Step 3, setting the longitudinal cyclic pitch value of the rotor of the drone 400 to a fixed value, and setting the lateral cyclic pitch value to zero, so as to generate a pitch control torque;

[0056] Step 4: Control the rotor of the drone 400 to perform pitch motion, and control the torque measuring device 200 to collect the actual torque magnitude of the drone 400 during pitch motion.

[0057] Specifically, after determining the theoretical optimal phase angle, it is necessary to determine the actual control torque corresponding to this theoretical optimal phase angle. By comparing the actual control torque with the theoretical control torque, the correctness of the theoretical optimal phase angle can be verified, which is more conducive to verifying the dimensional parameters of the rotor pitch changing mechanism, correcting the theoretical calculation results, and designing and optimizing the control rate of the subsequent flight control system.

[0058] Among them, the rotor pitch rocker arm size optimization method specifically refers to:

[0059] Step 11, based on the overhang e of the flapping hinge, obtain the flapping frequency P, Locke number γ, and time constant τ of the rotor. The calculation formula of the flapping frequency P is as follows:

[0060]

[0061] Where P is the flapping frequency ratio, K β is the elastic coefficient of the flapping hinge, e is the extension of the flapping hinge, M β is the swing hinge mass moment, I β is the flapping hinge moment of inertia, and Ω is the rotor speed.

[0062] The calculation formula of Locke number γ is as follows:

[0063]

[0064] Among them, Locke number γ represents the ratio of the aerodynamic force of the blade to the inertial force, ρ is the air density, a is the lift line slope coefficient of the blade airfoil, and c is the average aerodynamic chord length of the blade.

[0065] The time constant τ is calculated as follows:

[0066]

[0067] Among them, Ω is the rotation speed of the rotor and γ is the Lock number.

[0068] Step 22, based on the flapping frequency P, Locke number γ, time constant τ, lateral control input torque angle A 1 and longitudinal control input torque angle B 1 , the taper angle a of the rotor is obtained through the first-order flapping dynamics equations 0 , rear chamfer a 1 and side chamfer b 1 , the specific equation is as follows:

[0069]

[0070] It can be seen from the first-order dynamic flapping equations that the flapping hinge extension e will affect the flapping frequency ratio P, and then affect the flapping motion characteristics, that is, affect the rotor taper angle a 0 , rear chamfer a 1 and side chamfer b 1 size.

[0071] Among them, θ 0 is the total moment angle, g is the gravity acceleration value, Δ is the correction coefficient of the rotor rotation direction, right rotation is 1, left rotation is -1, η c is the dynamic coupling rate, η cc is the control coupling rate, q is the pitch angular velocity, and p is the roll angular velocity.

[0072] Among them, the dynamic coupling rate η c and the control coupling rate η cc Calculated by the following formula:

[0073]

[0074]

[0075] Among them, the lateral control input torque angle A 1 and longitudinal control input torque angle B 1 It refers to the angle value input during the lateral or longitudinal movement of the drone 400 under the control of the operator.

[0076] The taper angle of the rotor 0 It refers to the angle formed by the rotor and the horizontal plane during vertical flight. At this time, the rotor forms a rotor cone with the tip facing downward.

[0077] Rotor rear chamfer a 1 It means that during the forward flight, the rotor cone tilts backward, and the angle of the rotor cone tilting is the rear chamfer angle a. 1 .

[0078] Rotor side chamfer b 1 During sideways flight, the rotor cone tilts to a 90° angle, called the side chamfer angle b. 1 .

[0079] Step 33, based on the taper angle a 0 , rear chamfer a 1 and side chamfer b 1 , through the aerodynamic torque calculation equation, obtain the rotor pitch control torque M w and the rolling control moment L w , the specific equation is as follows:

[0080]

[0081]

[0082] Among them, N b is the number of blades, is the dimensionless quantity of flapping hinge extension, and R is the rotor radius.

[0083] Specifically, in this embodiment, N b =2, from the above formula, we can know that the pitch control moment M w and the rolling control moment L w The calculation formula is relatively complicated. It is not a single variable lateral control input pitch angle A. 1 and the longitudinal control input pitch angle B 1 It is also related to the flapping hinge extension e. For example, when pitch control is required, input A 1 ≠0, B 1 = 0, the pitch control moment M w The value of is not the maximum, and the rolling control torque L w ≠0, that is, pitch and roll are coupled together, wasting part of the torque.

[0084] Therefore, the phase angle θ and the lateral control input pitch angle A need to be 1 , Longitudinal control input pitch angle B 1 Through the following relationship:

[0085]

[0086] This eliminates the coupling between pitch and roll, thereby increasing the control torque of the corresponding channel.

[0087] Step 44: Based on the pitch control moment M w Or rolling control moment L w , obtain the longitudinal periodic pitch value and the lateral periodic pitch value of the rotor;

[0088] Step 55, reversely obtain the phase angle θ of the pitch rocker arm 500 through the longitudinal periodic pitch value and the lateral periodic pitch value, so as to obtain the pitch control moment M corresponding to different phase angles θ of the pitch rocker arm 500 w Or rolling control moment L w .

[0089] In addition, refer to Figure 2 The phase angle θ of the rotor pitch rocker arm 500 refers to the angle formed by the line from the center of the bearing at the end of the pitch rocker arm 500 to the center of the rotor hub 600 and the axis of the rotor pitch hinge 700. The phase angle θ can be changed by changing the size of the rotor pitch rocker arm 500.

[0090] Reference Figure 3For ease of understanding, a specific embodiment is used as an example for exemplary description.

[0091] Setting A 1 ′=fixed value, B 1 = 0, and then by modifying the phase angle θ of the pitch rocker arm 500 and substituting it into the above equation, the corresponding pitch control moment M is calculated. w Or rolling control moment L w , with the rolling control moment L w Take 2 as an example, the specific curve diagram is as follows: Figure 3 Shown

[0092] exist Figure 3 In the figure, the horizontal axis is 90-θ and the vertical axis is the rolling control torque L w As can be seen from the figure, when the phase angle θ is 90°, the horizontal coordinate of the above figure is 0°, and the rolling control torque is L w =2.8N·m; when the phase angle θ is about 34°, the corresponding horizontal coordinate in the above figure is 56°, and the rolling control torque reaches the peak value, which is L w =4.5N·m, and the control torque is 161% of the original. It can be seen that by modifying the phase angle θ, the control torque of the UAV 400 can be significantly improved.

[0093] In some specific embodiments of the present invention, in step 5, Z sets of variable pitch rocker arms 500 are manufactured at intervals of Y° within a range of X° before and after the theoretical optimal phase angle to adjust the phase angle of the rotor of the drone 400, and steps 1 to 3 are repeated to obtain the pitch control torque M corresponding to different phase angles θ of the variable pitch rocker arm 500. w Or rolling control moment L w , to verify the theoretical optimal phase angle.

[0094] A specific embodiment is used as an example for illustration, and a phase angle θ=56°, X=10, Y=4, and Z=6 is taken as an example. That is, 6 sets of variable pitch rocker arms 500 are manufactured at intervals of 4° within a range of plus or minus 10° before and after the theoretical phase angle of 56°, and are installed on the rotor pitch change assembly in sequence. The 6 sets of variable pitch rocker arms 500 are calibrated in sequence on a rotor pitch change rocker arm size detection device according to the detection method.

[0095] The final measured data is shown as follows:

[0096]

[0097] It can be seen from the measured data that the optimal phase is around 56°. Since the left and right errors are not large, this value can be used to design the geometric dimensions of the phase arm.

[0098] This enables the verification of the theoretical phase angle, which will be more conducive to verifying the dimensional parameters of the rotor pitch change mechanism, correcting the theoretical calculation results, and designing and optimizing the control rate of the subsequent flight control system.

[0099] And the size of the variable pitch rocker arm 500 is changed, that is, after the phase angle θ is optimized, it can be calculated from the numerical values ​​in the figure that when it is at the optimal phase angle θ, the control torque of the UAV 400 will be increased to 1.56 times before optimization, which significantly improves the control torque of the UAV 400, making the control response of the UAV 400 faster, the anti-wind disturbance ability stronger, and the flight safer.

[0100] Of course, the present invention is not limited to the above-mentioned embodiments, and those skilled in the art may make equivalent modifications or substitutions without violating the spirit of the present invention, and these equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A device for detecting the size of a rotor pitch rocker arm, used for a foldable coaxial twin-rotor UAV, characterized in that: include: Structural support (100); A torque measuring device (200) comprising a transmission shaft and a torque detection device (230), wherein the transmission shaft is arranged horizontally and is rotationally connected to the structural support (100), and the torque detection device (230) is arranged on the structural support (100) and is transmission-connected to one end or both ends of the transmission shaft, so as to measure the rolling control torque or the pitching control torque of the drone (400); A clamping device (300) is fixedly mounted on the transmission shaft and is suspended in the air, wherein the clamping device (300) is provided with a clamping cavity, wherein the axis of the clamping cavity is perpendicular to the axis of the transmission shaft, and is used for mounting the drone (400) to be measured; The transmission shaft comprises a first torque transmission shaft (210) and a second torque transmission shaft (220), one end of the first torque transmission shaft (210) is fixedly connected to one side of the clamping device (300), one end of the second torque transmission shaft (220) is fixedly connected to the other side of the clamping device (300), and the axis of the first torque transmission shaft (210), the center of the clamping cavity and the axis of the second torque transmission shaft (220) are located on the same straight line, the other end of the first torque transmission shaft (210) and the other end of the second torque transmission shaft (220) are respectively rotatably connected to the structural support (100), and the torque detection device (230) is transmission-connected to the first torque transmission shaft (210) and / or the second torque transmission shaft (220); Also included is a collection device, the collection device being electrically connected to the torque detection device (230) to collect data measured by the torque detection device (230); The specific detection steps are as follows: Step 1, obtaining the theoretical optimal phase angle of the rotor of the UAV (400); Step 2, fixing the center of mass of the drone (400) in the clamping cavity, and at the beginning of the detection, the rotor of the drone (400) rotates and is in a vertical hovering state; Step 3, setting the longitudinal cyclic pitch value of the rotor of the drone (400) to a fixed value, and setting the lateral cyclic pitch value to zero, so as to generate a pitch control torque; Step 4, controlling the rotor of the drone (400) to perform pitching motion, and controlling the torque measuring device (200) to collect the actual torque magnitude of the drone (400) during pitching motion; Step 5, making Z sets of variable pitch rocker arms at intervals of Y° within a range of X° before and after the theoretical optimal phase angle to adjust the phase angle of the rotor of the UAV (400), repeating steps 1 to 3 to obtain the pitch control torque corresponding to different phase angles of the variable pitch rocker arms to verify the theoretical optimal phase angle.

2. The device for detecting the size of a rotor pitch rocker arm according to claim 1, characterized in that: The torque measuring device (200) further comprises a fixing device, which is arranged on the structural support (100), corresponds to the first torque transmission shaft (210) or the second torque transmission shaft (220), and is used to fix the first torque transmission shaft (210) or the second torque transmission shaft (220).

3. The device for detecting the size of a rotor pitch rocker arm according to claim 1, characterized in that: The acquisition device comprises a torque acquisition device (241) and a acquisition terminal (242); the torque acquisition device (241) is electrically connected to the torque detection device (230); and the acquisition terminal (242) is electrically connected to the torque acquisition device (241).

4. The device for detecting the size of a rotor pitch rocker arm according to claim 1 or 2, characterized in that: The clamping device (300) comprises a first clamping plate and a second clamping plate, the first clamping plate is fixed to the first torque transmission shaft (210), the second clamping plate is fixedly connected to the second torque transmission shaft (220), and the first clamping plate and the second clamping plate together enclose the clamping cavity.

5. The device for detecting the size of a rotor pitch rocker arm according to any one of claims 1 to 4, characterized in that: The clamping cavity is consistent with the shape of the fuselage of the drone (400).

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